A gripper is the device that grasps and manipulates objects. It is the most common end effector. Grippers come in many forms: two-finger, three-finger, vacuum, magnetic, soft, and adaptive. Each is suited to a different range of tasks.

The two-finger parallel gripper is the workhorse of industry. It is simple, robust, and easy to control. Three-finger grippers handle round objects better. Soft grippers use flexible materials to conform to irregular shapes, like fruit or fragile parts. Vacuum grippers lift flat surfaces with suction. Magnetic grippers handle ferrous metal.

Gripper selection criteria

• Object shape, weight, and material.
• Required grip force and precision.
• Environment: cleanroom, food-safe, explosive.
• Speed of operation.
• Cost and maintenance.

No single gripper does everything. That is why tool changers exist. A robot can swap a vacuum gripper for a two-finger gripper in seconds. Some advanced grippers have variable stiffness or interchangeable fingertips. Soft robotics has pushed grippers into new territory: a silicone gripper can pick up a raw egg or a heavy wrench without changing settings. The gripper is where the robot meets the object, and its design often determines whether an automation project succeeds or fails. Engineers spend as much time on grippers as on arms, and for good reason.